docs: def inverse(self):
          """Take the inverse of the rigid transform.
  
          Returns
          -------
          :obj:`RigidTransform`
              The inverse of this RigidTransform.
          """
          inv_rotation = self.rotation.T
          inv_translation = np.dot(-self.rotation.T, self.translation)
          return RigidTransform(inv_rotation, inv_translation,
                                from_frame=self._to_frame,
                                to_frame=self._from_frame)